Growth Height Determination of Tree Walls for Precise Monitoring in Apple Fruit Production Using UAV Photogrammetry

In apple cultivation, spatial information about phenotypic characteristics of tree walls would be beneficial for precise orchard management. Unmanned aerial vehicles (UAVs) can collect 3D structural information of ground surface objects at high resolution in a cost-effective and versatile way by using photogrammetry. The aim of this study is to delineate tree wall height information in an apple orchard applying a low-altitude flight pattern specifically designed for UAVs. This flight pattern implies small distances between the camera sensor and the tree walls when the camera is positioned in an oblique view toward the trees. In this way, it is assured that the depicted tree crown wall area will be largely covered with a larger ground sampling distance than that recorded from a nadir perspective, especially regarding the lower crown sections. Overlapping oblique view images were used to estimate 3D point cloud models by applying structure-from-motion (SfM) methods to calculate tree wall heights from them. The resulting height models were compared with ground-based light detection and ranging (LiDAR) data as reference. It was shown that the tree wall profiles from the UAV point clouds were strongly correlated with the LiDAR point clouds of two years (2018: R2 = 0.83; 2019: R2 = 0.88). However, underestimation of tree wall heights was detected with mean deviations of −0.11 m and −0.18 m for 2018 and 2019, respectively. This is attributed to the weaknesses of the UAV point clouds in resolving the very fine shoots of apple trees. Therefore, the shown approach is suitable for precise orchard management, but it underestimated vertical tree wall expanses, and widened tree gaps need to be accounted for

Impact of Camera Viewing Angle for Estimating Leaf Parameters of Wheat Plants from 3D Point Clouds

Estimation of plant canopy using low-altitude imagery can help monitor the normal growth status of crops and is highly beneficial for various digital farming applications such as precision crop protection. However, extracting 3D canopy information from raw images requires studying the effect of sensor viewing angle by taking into accounts the limitations of the mobile platform routes inside the field. The main objective of this research was to estimate wheat (Triticum aestivum L.) leaf parameters, including leaf length and width, from the 3D model representation of the plants. For this purpose, experiments with different camera viewing angles were conducted to find the optimum setup of a mono-camera system that would result in the best 3D point clouds. The angle-control analytical study was conducted on a four-row wheat plot with a row spacing of 0.17 m and with two seeding densities and growth stages as factors. Nadir and six oblique view image datasets were acquired from the plot with 88% overlapping and were then reconstructed to point clouds using Structure from Motion (SfM) and Multi-View Stereo (MVS) methods. Point clouds were first categorized into three classes as wheat canopy, soil background, and experimental plot. The wheat canopy class was then used to extract leaf parameters, which were then compared with those values from manual measurements. The comparison between results showed that (i) multiple-view dataset provided the best estimation for leaf length and leaf width, (ii) among the single-view dataset, canopy, and leaf parameters were best modeled with angles vertically at -45⸰_ and horizontally at 0⸰_ (VA -45, HA 0), while (iii) in nadir view, fewer underlying 3D points were obtained with a missing leaf rate of 70%. It was concluded that oblique imagery is a promising approach to effectively estimate wheat canopy 3D representation with SfM-MVS using a single camera platform for crop monitoring. This study contributes to the improvement of the proximal sensing platform for crop health assessment. © 2021 by the authors. Licensee MDPI, Basel, Switzerland

Crop Monitoring Using Sentinel-2 and UAV Multispectral Imagery: A Comparison Case Study in Northeastern Germany

Monitoring within-field crop variability at fine spatial and temporal resolution can assist farmers in making reliable decisions during their agricultural management; however, it traditionally involves a labor-intensive and time-consuming pointwise manual process. To the best of our knowledge, few studies conducted a comparison of Sentinel-2 with UAV data for crop monitoring in the context of precision agriculture. Therefore, prospects of crop monitoring for characterizing biophysical plant parameters and leaf nitrogen of wheat and barley crops were evaluated from a more practical viewpoint closer to agricultural routines. Multispectral UAV and Sentinel-2 imagery was collected over three dates in the season and compared with reference data collected at 20 sample points for plant leaf nitrogen (N), maximum plant height, mean plant height, leaf area index (LAI), and fresh biomass. Higher correlations of UAV data to the agronomic parameters were found on average than with Sentinel-2 data with a percentage increase of 6.3% for wheat and 22.2% for barley. In this regard, VIs calculated from spectral bands in the visible part performed worse for Sentinel-2 than for the UAV data. In addition, large-scale patterns, formed by the influence of an old riverbed on plant growth, were recognizable even in the Sentinel-2 imagery despite its much lower spatial resolution. Interestingly, also smaller features, such as the tramlines from controlled traffic farming (CTF), had an influence on the Sentinel-2 data and showed a systematic pattern that affected even semivariogram calculation. In conclusion, Sentinel-2 imagery is able to capture the same large-scale pattern as can be derived from the higher detailed UAV imagery; however, it is at the same time influenced by management-driven features such as tramlines, which cannot be accurately georeferenced. In consequence, agronomic parameters were better correlated with UAV than with Sentinel-2 data. Crop growers as well as data providers from remote sensing services may take advantage of this knowledge and we recommend the use of UAV data as it gives additional information about management-driven features. For future perspective, we would advise fusing UAV with Sentinel-2 imagery taken early in the season as it can integrate the effect of agricultural management in the subsequent absence of high spatial resolution data to help improve crop monitoring for the farmer and to reduce costs

Terahertz spectroscopy for proximal soil sensing: An approach to particle size analysis

Spatially resolved soil parameters are some of the most important pieces of information for precision agriculture. These parameters, especially the particle size distribution (texture), are costly to measure by conventional laboratory methods, and thus, in situ assessment has become the focus of a new discipline called proximal soil sensing. Terahertz (THz) radiation is a promising method for nondestructive in situ measurements. The THz frequency range from 258 gigahertz (GHz) to 350 GHz provides a good compromise between soil penetration and the interaction of the electromagnetic waves with soil compounds. In particular, soil physical parameters influence THz measurements. This paper presents investigations of the spectral transmission signals from samples of different particle size fractions relevant for soil characterization. The sample thickness ranged from 5 to 17 mm. The transmission of THz waves was affected by the main mineral particle fractions, sand, silt and clay. The resulting signal changes systematically according to particle sizes larger than half the wavelength. It can be concluded that THz spectroscopic measurements provide information about soil texture and penetrate samples with thicknesses in the cm range

Hyperspectral Imaging Tera Hertz System for Soil Analysis : Initial Results

Analyzing soils using conventional methods is often time consuming and costly due to their complexity. These methods require soil sampling (e.g., by augering), pretreatment of samples (e.g., sieving, extraction), and wet chemical analysis in the laboratory. Researchers are seeking alternative sensor-based methods that can provide immediate results with little or no excavation and pretreatment of samples. Currently, visible and infrared spectroscopy, electrical resistivity, gamma ray spectroscopy, and X-ray spectroscopy have been investigated extensively for their potential utility in soil sensing. Little research has been conducted on the application of THz (Tera Hertz) spectroscopy in soil science. The Tera Hertz band covers the frequency range between 100 GHz and 10 THz of the electromagnetic spectrum. One important feature of THz radiation is its correspondence with the particle size of the fine fraction of soil minerals (clay < 2 µm to sand < 2 mm). The particle size distribution is a fundamental soil property that governs soil water and nutrient content, among other characteristics. The interaction of THz radiation with soil particles creates detectable Mie scattering, which is the elastic scattering of electromagnetic waves by particles whose diameter corresponds approximately to the wavelength of the radiation. However, single-spot Mie scattering spectra are difficult to analyze and the understanding of interaction between THz radiation and soil material requires basic research. To improve the interpretation of THz spectra, a hyperspectral imaging system was developed. The addition of the spatial dimension to THz spectra helps to detect relevant features. Additionally, multiple samples can be scanned in parallel and measured under identical conditions, and the high number of data points within an image can improve the statistical accuracy. Technical details of the newly designed hyperspectral imaging THz system working from 250 to 370 GHz are provided. Results from measurements of different soil samples and buried objects in soil demonstrated its performance. The system achieved an optical resolution of about 2 mm. The sensitivity of signal damping to the changes in particle size of 100 µm is about 10 dB. Therefore, particle size variations in the µm range should be detectable. In conclusion, automated hyperspectral imaging reduced experimental effort and time consumption, and provided reliable results because of the measurement of hundreds of sample positions in one run. At this stage, the proposed setup cannot replace the current standard laboratory methods, but the present study represents the initial step to develop a new automated method for soil analysis and imaging

Analyzing Temporal and Spatial Characteristics of Crop Parameters Using Sentinel-1 Backscatter Data

The knowledge about heterogeneity on agricultural fields is essential for a sustainable and effective field management. This study investigates the performance of Synthetic Aperture Radar (SAR) data of the Sentinel-1 satellites to detect variability between and within agricultural fields in two test sites in Germany. For this purpose, the temporal profiles of the SAR backscatter in VH and VV polarization as well as their ratio VH/VV of multiple wheat and barley fields are illustrated and interpreted considering differences between acquisition settings, years, crop types and fields. Within-field variability is examined by comparing the SAR backscatter with several crop parameters measured at multiple points in 2017 and 2018. Structural changes, particularly before and after heading, as well as moisture and crop cover differences are expressed in the backscatter development. Furthermore, the crop parameters wet and dry biomass, absolute and relative vegetation water content, leaf area index (LAI) and plant height are related to SAR backscatter parameters using linear and exponential as well as multiple regression. The regression performance is evaluated using the coefficient of determination (R 2 ) and the root mean square error (RMSE) and is strongly dependent on the phenological growth stage. Wheat shows R 2 values around 0.7 for VV backscatter and multiple regression and most crop parameters before heading. Single fields even reach R 2 values above 0.9 for VV backscatter and for multiple regression related to plant height with RMSE values around 10 cm. The formulation of clear rules remains challenging, as there are multiple influencing factors and uncertainties and a lack of conformity.BMEL, 2815710715, Verbundprojekt: Erzeugung von landwirtschaftlichen Ertragspotenzialkarten durch Fusion von Ertragskartierungen, Fernerkundungsdaten, digitaler Reliefauswer-tung und Bewirtschaftungsdaten (AgriFusion) - Teilprojekt

Robotic Harvesting of Fruiting Vegetables: A Simulation Approach in V-REP, ROS and MATLAB

In modern agriculture, there is a high demand to move from tedious manual harvesting to a continuously automated operation. This chapter reports on designing a simulation and control platform in V-REP, ROS, and MATLAB for experimenting with sensors and manipulators in robotic harvesting of sweet pepper. The objective was to provide a completely simulated environment for improvement of visual servoing task through easy testing and debugging of control algorithms with zero damage risk to the real robot and to the actual equipment. A simulated workspace, including an exact replica of different robot manipulators, sensing mechanisms, and sweet pepper plant, and fruit system was created in V-REP. Image moment method visual servoing with eye-in-hand configuration was implemented in MATLAB, and was tested on four robotic platforms including Fanuc LR Mate 200iD, NOVABOT, multiple linear actuators, and multiple SCARA arms. Data from simulation experiments were used as inputs of the control algorithm in MATLAB, whose outputs were sent back to the simulated workspace and to the actual robots. ROS was used for exchanging data between the simulated environment and the real workspace via its publish-and-subscribe architecture. Results provided a framework for experimenting with different sensing and acting scenarios, and verified the performance functionality of the simulator

Estimation of daily carbon demand in sweet cherry (Prunus avium L.) production

In cherry production, the assimilate supply to the fruit is a crucial factor for growth and formation of quality parameters. The assimilate supply per fruit is limited by the relative growth capacity of trees, represented by the leaf area to fruit ratio (LA:F). In the present study, the required leaf area per fruit (LAdemand [cm² fruit-1]) of two sweet cherry cultivars, 'Bellise' and 'Regina', was estimated in 2018 and 2019, based on measured and interpolated values of fruit growth and fruit respiration rates. LAdemand changed daily with an overall increase during fruit development, showing average values in stage III in 2018 and 2019 of 139 cm² and 175 cm² in 'Bellise', while 199 cm² and 212 cm² were found in 'Regina', respectively. Estimated LAdemand for both cultivars was compared with measurements in cherries grown on girdled branches. In both years, estimated values exceeded measured values. In both years, positive correlation between LA:F and fresh mass, soluble solids content, and coloration was observed. The data obtained can be applied to evaluate the tree’s crop load for precise management

Modeling of Individual Fruit-Bearing Capacity of Trees Is Aimed at Optimizing Fruit Quality of Malus x domestica Borkh. 'Gala'

The capacity of apple trees to produce fruit of a desired diameter, i.e., fruit-bearing capacity (FBC), was investigated by considering the inter-tree variability of leaf area (LA). The LA of 996 trees in a commercial apple orchard was measured by using a terrestrial two-dimensional (2D) light detection and ranging (LiDAR) laser scanner for two consecutive years. The FBC of the trees was simulated in a carbon balance model by utilizing the LiDAR-scanned total LA of the trees, seasonal records of fruit and leaf gas exchanges, fruit growth rates, and weather data. The FBC was compared to the actual fruit size measured in a sorting line on each individual tree. The variance of FBC was similar in both years, whereas each individual tree showed different FBC in both seasons as indicated in the spatially resolved data of FBC. Considering a target mean fruit diameter of 65 mm, FBC ranged from 84 to 168 fruit per tree in 2018 and from 55 to 179 fruit per tree in 2019 depending on the total LA of the trees. The simulated FBC to produce the mean harvest fruit diameter of 65 mm and the actual number of the harvested fruit >65 mm per tree were in good agreement. Fruit quality, indicated by fruit's size and soluble solids content (SSC), showed enhanced percentages of the desired fruit quality according to the seasonally total absorbed photosynthetic energy (TAPE) of the tree per fruit. To achieve a target fruit diameter and reduce the variance in SSC at harvest, the FBC should be considered in crop load management practices. However, achieving this purpose requires annual spatial monitoring of the individual FBC of trees